matlabbe

Is it easy to reproduce? maybe sharing a rosbag of the input topics to rtabmap node could help to debug here. Your rtabmap command could be simpler: ``` ros2 run...

The odometry is not computed in the right frame. We can see the resulting point clouds have an optical rotation in them (the floor is vertical instead of being horizontal):...

> I could get the live point cloud visualisation correctly by defining a static identity tf imu and d435i_depth_optical_frame instead of d435i_link You can then set `imu` as the base...

what is the size of the file? If rtabmap.db is empty, it means mapping didn't work. For convenience, the optimized poses will be in Admin table under `opt_ids` and `opt_poses`...

Yes, optimized poses are saved only when closing rtabmap. We didn't find the need to re-write them in database at every rtabmap updates. The export tool does re-optimize the graph...

Try installing OpenMP: https://formulae.brew.sh/formula/libomp. The error is from third party includes: ``` /opt/homebrew/include/eigen3/Eigen/Core:70:10: fatal error: 'omp.h' file not found ```

Are some files have root permissions? Look similar to https://forum.qt.io/topic/104575/cmake-autogen-of-rcc-list-causes-error-with-permission-denied/3

I'll suggest to launch `stereo_odometry` node with `--udebug` argument. ```xml ```

If you are using [DBDriver::load2DMap()](https://github.com/introlab/rtabmap/blob/a1d43d23533e0846c1dd3d8eb264c54b63112ac9/corelib/include/rtabmap/core/DBDriver.h#L110) to get the 2D oocupancy grid, you can do [DBDriver::loadOptimizedPoses()](https://github.com/introlab/rtabmap/blob/master/corelib/include/rtabmap/core/DBDriver.h#L108C14) to get the corresponding poses. If you need the links, you may call [DBDriver::loadLinks()](https://github.com/introlab/rtabmap/blob/a1d43d23533e0846c1dd3d8eb264c54b63112ac9/corelib/include/rtabmap/core/DBDriver.h#L173) for...

Based on Figure 4 of this [paper](https://arxiv.org/pdf/2103.03827.pdf), SuperPoint feature works best against illumination variation if you cannot remap often enough. When `rtabmap-reprocess` says "high variance detected new map starting...", it...